EP0635930B1 - Moteur a ultra-sons et entrainement avec ondes ultrasonores - Google Patents

Moteur a ultra-sons et entrainement avec ondes ultrasonores Download PDF

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Publication number
EP0635930B1
EP0635930B1 EP94905853A EP94905853A EP0635930B1 EP 0635930 B1 EP0635930 B1 EP 0635930B1 EP 94905853 A EP94905853 A EP 94905853A EP 94905853 A EP94905853 A EP 94905853A EP 0635930 B1 EP0635930 B1 EP 0635930B1
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EP
European Patent Office
Prior art keywords
electro
mechanical energy
energy transducer
cylindrical elastic
transducer element
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EP94905853A
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German (de)
English (en)
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EP0635930A4 (fr
EP0635930A1 (fr
Inventor
Takahiro Oki Electric Industry Co. Ltd. Oda
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Oki Electric Industry Co Ltd
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Oki Electric Industry Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/06—Feeding articles separated from piles; Feeding articles to machines by rollers or balls, e.g. between rollers
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
    • H02N2/001—Driving devices, e.g. vibrators
    • H02N2/0015—Driving devices, e.g. vibrators using only bending modes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
    • H02N2/106—Langevin motors
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N30/00—Piezoelectric or electrostrictive devices
    • H10N30/50—Piezoelectric or electrostrictive devices having a stacked or multilayer structure
    • H10N30/503—Piezoelectric or electrostrictive devices having a stacked or multilayer structure with non-rectangular cross-section orthogonal to the stacking direction, e.g. polygonal, circular
    • H10N30/505—Annular cross-section
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00—Power transmission; Driving means

Definitions

  • the present invention relates to an ultrasonic motor and an ultrasonic conveying device using an electro-mechanical transducer element.
  • Prepaid cards used for an automatic cash dispenser, a telephone, an automatic ticket publisher etc. or papers, films and the like used for a printer, a facsimile, a copier etc. are conventionally conveyed by a ultrasonic motor which conveys the sheet-type objects by resonating a prism vibrator made of a metal prism in flexural vibration with its resonance frequency thereby to rotate cup-shaped rollers provided at both ends of the prism vibrator (refer to Japanese Patent Laid-Open Publication Nos. 1-274674 and 1-274675)
  • Fig. 2 is a perspective view of a piezoelectric vibrator used by a conventional ultrasonic motor.
  • a piezoelectric vibrator which comprises a metal prism 101 having a substantially square-shaped cross section and piezoelectric ceramic thin plates 102a and 102b bonded to two adjacent side surfaces of the piezoelectric vibrator 100.
  • the piezoelectric ceramic thin plates 102a and 102b are polarized in the direction of thickness and electrodes, not shown, are formed on the face and back surfaces thereof.
  • an alternating voltage is applied to the piezoelectric ceramic thin plates 102a and 102b from the electrodes according to a predetermined method, an electric field is generated to make the piezoelectric ceramic thin plates 102a and 102b expand and contract to vibrate.
  • the metal prism 101 since the metal prism 101 has substantially a square cross section, it effects flexural vibrations having resonance frequencies substantially equal to each other in the directions perpendicular to each other.
  • the both ends of the metal prism 101 effect rotating vibration or elliptical vibrations.
  • the metal prism 101 is equipped with discs 103a and 103b at both ends thereof and supporting pins 104a and 104b at the nodes of flexural vibration generated therein to be stably supported thereby.
  • Fig. 3 is a perspective view of a conventional ultrasonic motor.
  • 100 is a piezoelectric vibrator
  • 101 is a metal prism
  • 103b is a disc
  • 104a and 104b are supporting pins.
  • Cup-shaped rollers 201a and 201b each having an inner diameter slightly larger than the outer diameter of the discs 103a and 103b are provided on the outer periphery of discs 103a (Fig. 2) and 103b mounted on both ends of the metal prism 101.
  • the cup-shaped rollers 201a and 201b are rotatably supported by bearings 202a and 202b respectively.
  • Fig. 4 is a perspective view of a conventional ultrasonic transfer device.
  • a piezoelectric vibrator denoted at 100 is a piezoelectric vibrator
  • 101 is a metal prism
  • 104 and 104b are supporting pins
  • 201a and 201b are cup-shaped rollers
  • 202a and 202b are bearings.
  • Auxiliary rollers 301a and 301b which are rotatably supported by bearings 302a and 302b are provided in such a way as to press on the cup-shaped rollers 201a and 201b.
  • the auxiliary rollers 301a and 301b are connected to each other by way of a shaft 303.
  • the rotating or elliptic vibrations at the both ends of the metal prism 101 rotates the cup-shaped rollers 201a and 201b thereby to rotate the auxiliary rollers 301a and 301b following thereto.
  • a sheet-type object not shown, is inserted between the cup-shaped rollers 201a and 201b and the auxiliary rollers 301a and 301b, it can be easily conveyed.
  • the conventional ultrasonic motor and ultrasonic conveying device cannot receive a force applied to the metal prism 101 by the expanding and contracting vibration of the piezoelectric ceramic thin plates 102a and 102b since a force applied to the metal prism 101 as the cup-shaped rollers 201a and 201b press on the discs 103a and 103b does not confirm in direction to that applied to the metal prism 101 by the expansion and contraction of the piezoelectric ceramic thin plates 102a and 102b during the sheet-type objects are conveyed.
  • cup-shaped rollers 201a and 201b press the discs 103a and 103b more strongly, they influence the bending rigidity of the metal prism 101 and bonding strength between the metal prism 101 and the piezoelectric ceramic thin plates 102a and 102b, causing fluctuation in resonance frequency and amplitude in rotating and elliptical vibrations, which fails to generate a larger torque.
  • An ultrasonic motor is defined by the features of claim 1. It comprises a stepped cylindrical elastic body having fixing portions at both ends thereof and screwing portions therebetween and an electro-mechanical energy transducer element for generating modes of vibration (referred to as vibration modes hereinafter) in a plurality of planes upon reception of a plurality of alternating voltages which are different to one another in phase, the electro-mechanical energy transducer element being fixed to a given portion of the stepped cylindrical elastic body.
  • a pair of cylindrical elastic bodies are provided to clamp the electro-mechanical energy transducer element set forth above therebetween and are fixed to the stepped cylindrical elastic body. As a result, rotation or elliptical vibrations are generated at the free ends of the cylindrical elastic body.
  • driving rollers Since driving rollers are pressed against the free ends of the cylindrical elastic bodies, they are rotated by the rotation or elliptical vibrations generated at the free ends of the cylindrical elastic bodies.
  • the electro-mechanical energy transducer element When the electro-mechanical energy transducer element is formed of an element body, the element body is composed of at least three polarized portions each polarized in the direction of thickness, and a plurality of alternating voltages having phases different from one another by a predetermined phase are applied to the polarized portions respectively.
  • At least one polarized portion is electrically connected to a switching means for switching between electric input and output, wherein the switching means selectively performs driving the electro-mechanical energy transducer element and detecting the vibrating state thereof.
  • the rotation of the driving rollers can be stabilized by controlling the alternating voltages corresponding to the vibrating state.
  • each element body is divided into at least two portions polarized in the direction of thickness.
  • a plurality of alternating voltages which are different from one another by a given phase are applied to the corresponding polarized portions of each element body.
  • the rotation of the driving rollers can be stabilized by controlling the alternating voltages corresponding to the vibrating state.
  • a synchronizing means can be provided for synchronizing the rotations of the driving rollers to prevent them from becoming different in speed. It is also possible to provide rollers driven by the driving rollers and set the strength of force which can be transmitted between the driving rollers and the driven rollers smaller than that transmitted between the free ends and the driving rollers.
  • the ultrasonic conveying device is provided with auxiliary rollers which face the driving rollers, the both of which are arranged in positions to clamp a sheet-type object therebetween to convey the same.
  • the driving rollers is rotated by the rotation or elliptical vibration, the sheet-type objects are conveyed sheet by sheet separately.
  • the driving rollers can generate a large torque without fluctuation in the resonance frequency and amplitude of the rotation or elliptical vibration. As a result, it is possible to stably convey the sheet-type objects.
  • Fig. 1 is a perspective view of a cylindrical vibrator used in a ultrasonic motor according to a first embodiment of the present invention
  • Fig. 5 is a side view of the cylindrical vibrator used in the ultrasonic motor according to the first embodiment of the present invention
  • Fig. 6 is a view showing the vibration modes of the cylindrical vibrator according to the first embodiment of the present invention, wherein Fig. 6 (a) shows the first vibration mode thereof, Fig. 6 (b) shows the second vibration mode thereof, Fig. 6 (c) shows the third vibration mode thereof and Fig. 6 (d) shows the fourth vibration mode thereof.
  • a cylindrical vibrator which comprises a pair of cylindrical elastic bodies 11 and 12 for clamping an electro-mechanical energy transducer element 14 therebetween, each of the cylindrical elastic bodies 11 and 12 being screwed to a stepped cylindrical elastic body 13 provided inside the cylindrical vibrator 10.
  • the electro-mechanical energy transducer element 14 having a hole at the central portion thereof is divided into a plurality of pieces each being polarized in the direction of thickness thereof.
  • the stepped cylindrical elastic body 13 comprises fixing portions 13a and 13b and screwing portions 13c and 13d, the screwing portions 13c and 13d being threaded at the external circumference thereof and the cylindrical elastic bodies 11 and 12 being threaded at the internal circumference thereof to facilitate connecting operation by screwing the same.
  • the cylindrical vibrator 10 vibrates when an alternating voltage is applied to the electro-mechanical energy transducer element 14 by way of leads, not shown.
  • each of the cylindrical elastic bodies 11 and 12 When each of the cylindrical elastic bodies 11 and 12 is screwed to be connected to the stepped cylindrical elastic body 13, each of the cylindrical elastic bodies 11 and 12 and stepped cylindrical elastic body 13 are electrically isolated from the electro-mechanical energy transducer element 14.
  • the cylindrical vibrator 10 vibrates in four vibration modes illustrated in Figs. 6 (a) to 6 (d). That is, the flexural vibration in an x-y plane of the electro-mechanical energy transducer element 14 itself causes flexural vibrations of the cylindrical vibrator 10 as illustrated in Figs. 6 (a) and 6 (b), while the vertical vibration in the direction of the y-axis of the electro-mechanical energy transducer element 14 itself causes flexural vibrations of the cylindrical vibrator 10 as illustrated in Figs. 6 (c) and 6 (d).
  • the secondary flexural vibration in x-y plane of the cylindrical elastic bodies 11 and 12 causes the formation of a node 15 at the electro-mechanical energy transducer element 14 which serves as a connecting portion for the cylindrical elastic bodies 11 and 12 and the formation of nodes 16a and 16b at the notched portions 11a and 12a in the cylindrical elastic bodies 11 and 12 respectively.
  • a solid line 17a and a broken line 17b represent the flexural vibrations of the cylindrical elastic bodies 11 and 12 respectively.
  • the stepped cylindrical elastic body 13 scarcely vibrates as represented by a tow-dot chain line 17c in the figure since it is in contact with the cylindrical elastic bodies 11 and 12 at the node 15 thereof.
  • the cylindrical resonator 10 can be supported at both end fixing portions 13a and 13b of the stepped cylindrical elastic body 13 to reduce energy loss at supporting portions.
  • the secondary flexural vibration in a y-z plane of the cylindrical elastic bodies 11 and 12 causes the formation of a node 15 at the electro-mechanical energy transducer element 14 which serves as the connecting portion for the cylindrical elastic bodies 11 and 12 and the formation of nodes 16a and 16b at the notched portions 11a and 12a in the cylindrical elastic bodies 11 and 12 respectively.
  • the solid line 17a and broken line 17b represent the flexural vibrations of the cylindrical elastic bodies 11 and 12.
  • the stepped cylindrical elastic body 13 scarcely vibrates as represented by the tow-dot chain line 17c in the figure since it is in contact with the cylindrical elastic bodies 11 and 12 at the node 15 similarly to the first vibration mode.
  • the cylindrical vibrator 10 can be supported at both end fixing portions 13a and 13b of the stepped cylindrical elastic body 13 to reduce energy loss at supporting portions.
  • Rotation or elliptical vibrations can be generated at the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12 by setting the resonance frequencies of secondary flexural vibrations of the cylindrical elastic bodies 11 and 12 in the first and second vibration modes to conform to or sufficiently close to each other, to have the nodes 15, 16a and 16b of vibration of the cylindrical vibrator 10 at a position or at positions sufficiently close to each other and to differ in phase from each other by 90°.
  • the notched portions 11a and 12a are formed at the positions conforming to or sufficiently close to those of the nodes 16a and 16b of the cylindrical elastic bodies 11 and 12 respectively in order to facilitate the rotation or elliptical vibrations of the free ends 11b and 12b thereof.
  • a solid line 17d and a broken line 17e represent the flexural vibrations of the cylindrical elastic bodies 11 and 12.
  • the stepped cylindrical elastic body 13 vibrates as represented by a tow-dot chain line 17f and a solid line 17g, since it is in contact with the cylindrical elastic bodies 11 and 12 at an antinode 18 of vibration thereof,.
  • the cylindrical vibrator 10 can be supported at the fixing portions 13a and 13b at both ends of the stepped cylindrical elastic body 13 to reduce energy loss at supporting portions by selecting the dimension of the step or material of the stepped cylindrical elastic body 13 to reduce the amplitude of vibration at both ends thereof represented by the tow-dot chain line 17f and solid line 17g or machining the portions of the stepped cylindrical elastic body 13 and cylindrical elastic bodies 11 and 12 which are in contact with each other to prevent the stepped cylindrical elastic body 13 from being excited by the vibration represented by the solid line 17d and broken line 17e.
  • the primary flexural vibration in the y-z plane of the cylindrical elastic bodies 11 and 12 causes the formation of nodes 16c and 16d at the notched portions 11a and 12a of the cylindrical elastic bodies 11 and 12.
  • a solid line 17d and a broken line 17e represent the flexural vibrations of the cylindrical elastic bodies 11 and 12.
  • the stepped cylindrical elastic body 13 vibrates as represented by the tow-dot chain line 17f and solid line 17g, since it is in contact with the cylindrical elastic bodies 11 and 12 at the antinode 18 of vibration thereof similarly to the third vibration mode also in this case.
  • the cylindrical vibrator 10 can be supported at the fixing portions 13a and 13b at both ends of the stepped cylindrical elastic body 13 reduce energy loss at the supporting portions by selecting the dimension of the step or material of the stepped cylindrical elastic body 13 to reduce the amplitude of vibration at both ends thereof as represented by the tow-dot chain line 17f and solid line 17g or machining the portions of the stepped cylindrical elastic body 13 and the cylindrical elastic bodies 11 and 12 which are in contact with each other to prevent the stepped cylindrical elastic body 13 from being excited by the vibration represented by the solid line 17d and broken line 17e.
  • Primary flexural vibrations of the cylindrical elastic bodies 11 and 12 set to be equal or sufficiently close to each other in resonance frequency, to have the nodes 16c and 16d at a position or at positions sufficiently close to each other and to differ in phase by 90° in the third and fourth vibration modes can generate rotation or elliptical vibrations at the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12.
  • the notched portions 11a and 12a are formed at positions conforming to or sufficiently close to those of the nodes 16c and 16d of the cylindrical elastic bodies 11 and 12 respectively in order to facilitate the rotation or elliptical vibrations of the free ends 11b and 12b thereof.
  • the first and second vibration modes take advantage of a lateral effect when the direction of polarization of the electro-mechanical energy transducer element 14 is perpendicular to that of vibration
  • the third and fourth vibration modes take advantage of a longitudinal effect when the direction of polarization of the electro-mechanical energy transducer element 14 conforms to that of vibration.
  • the third and fourth vibration modes can increase an electro-mechanical coupling coefficient to improve an energy utilization efficiency more than the first and second modes.
  • the cylindrical vibrator 10 can be regarded as a body of revolution in which the y-axis is the axis of revolution, it is possible to allow the cylindrical vibrator 10 to vibrate in an arbitrary plane containing the y-axis therein without being limited in the x-y and y-z planes in the first to fourth vibration modes.
  • the cylindrical elastic bodies 11 and 12 can similarly generate rotation or elliptical vibrations at the free ends 11b and 12b thereof.
  • the polarized portions of the electro-mechanical energy transducer element 14 are arranged asymmetrical to one another relative to the y-axis, so that it is necessary to conform them in polarity. Accordingly, the electro-mechanical energy transducer element 14 needs m input terminals to the polarized portions thereof and a ground terminal.
  • the number of the input terminals to the polarized portions can be reduced to m/2 excluding a ground terminal.
  • the electro-mechanical energy transducer element 14 is arranged at a position conforming to or sufficiently close to the position of the node 15 or the antinode 18 and is clamped between the cylindrical elastic bodies 11 and 12 using the screwing portions 13c and 13d of the stepped cylindrical elastic body 13 so as to incorporate the stepped cylindrical elastic body 13, the electro-mechanical energy transducer element 14 and the cylindrical elastic bodies 11 and 12 into one piece.
  • the screwing portions 13c and 13d and fixing portions 13a and 13b of the stepped cylindrical elastic body 13 is changed in cross section to increase the amplitude of rotation or elliptical vibrations generated at the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12.
  • the electro-mechanical energy transducer element 14 is electrically in contact with the stepped cylindrical elastic body 13 so that the input terminals to the electro-mechanical energy transducer element 14 and the ground terminal are short-circuited to each other and consequently electric energy cannot be converted into mechanical energy. Accordingly, insulating films are attached to the portions of the stepped cylindrical elastic body 13 and electro-mechanical energy transducer element 14 which are in contact with one another to prevent the electric contact. A similar effect can be obtained also by forming the stepped cylindrical elastic body 13 of nonconductive metallic material.
  • the portions of the stepped cylindrical elastic body 13 to which the driving rollers, described later particularly, are attached and the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12 respectively generate rotation or elliptical vibrations each composed of vibrations different in phase from each other.
  • the phase difference at that time influence a friction generated when the driving rollers receive the rotation or elliptical vibration from the free ends 11b and 12b to fluctuate the torque of the driving rollers.
  • the torque of the driving rollers is maximum when the phases are different from each other by 180°.
  • the shape of the step, dimension and material of the stepped cylindrical elastic body 13, the dimensions of the cylindrical elastic bodies 11 and 12 and those of the notched portions 11a and 12a are determined to make the phases different from each other by 180°.
  • Fig. 7 is a schematic view of an electro-mechanical energy transducer element according to a first embodiment of the present invention.
  • denoted at 14 is an electro-mechanical energy transducer element composed of an element body 14a and electrode films 21a to 21d, the element body 14a being divided into three polarized portions each polarized in the direction of thickness.
  • the electrode films 21a to 21c are attached to a surface of the element body 14a at the positions corresponding to the polarized portions with gaps 21e between one another and an electrode film 21d which is of the same quality as the electrode films 21a to 21c is uniformly attached to the other surface of the element body 14a. It is also possible to attach the electrode films to both sides of the element body 14a corresponding to the polarized portions thereof. Moreover, it is also possible to form the electrode films 21a to 21d on the surfaces of the element body 14a corresponding to polarized portions by applying a conductive coating thereon.
  • the polarized portions are polarized in a same direction, e.g., in case the polarity of surfaces of the electrode films 21a to 21c is positive, that of the electrode film 21d becomes negative.
  • the element body 14a expands in the direction of the y-axis or bends in the positive direction of the y-axis. The amount of expansion or bending is proportional to the direct voltage applied thereto.
  • Fig. 8 is a view for explaining the working principle of the electro-mechanical energy transducer element according to the first embodiment of the present invention.
  • denoted at 14 is an electro-mechanical energy transducer element
  • 14a is an element body
  • 21a to 21d are electrode films
  • 21e are gaps
  • 23a to 23d are electrode plates
  • 24a to 24c are power sources.
  • the electrode plates 23a to 23d which correspond to the electrode films 21a to 21d of the electro-mechanical energy transducer element 14 and are arranged as illustrated in the figure are brought into contact with the electrode films 21a to 21d.
  • the electrode plates 23a to 23d and the electrode films 21a to 21d are made of same material taking into consideration the efficiency of transmitting vibration from the electro-mechanical energy transducer element 14 to the cylindrical elastic bodies 11 and 12 (Fig. 1).
  • the same effect can be also obtained by differing the material of the electrode plates 23a to 23d from that of the cylindrical elastic bodies 11 and 12.
  • the electrode plates 23a to 23d should be as thin as possible compared with the element body 14a and should be larger than the electrode films 21a to 21d respectively.
  • Gaps larger than the gaps 21e separating the electrode films 21a to 21c from one another are formed to separate the electrode plates 23a to 23c for preventing the same from being in contact with one another. Insulating materials may be provided among the electrode plates 23a to 23c to be incorporated into one piece. In this case, positioning the electrode plates 23a to 23d relative to the electrode films 21a to 21d becomes easier than the case in which three individual electrode plates 23a to 23c are used separately.
  • An outward projecting electrode piece is formed in each of the electrode plates 23a to 23d and the electrode pieces are electrically connected to one another as illustrated in the figure.
  • the three polarized portions of the electro-mechanical energy transducer element 14 are the same in polarity. Accordingly, alternating voltages applied to the electrode plates 23a to 23c from the power sources 24a to 24c are set to be different in phase from one another by 120°. It is possible to amplify the vibration of the electro-mechanical energy transducer element 14 to generate rotation or elliptical vibrations at the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12 by setting the frequency values of the alternating voltages to conform to or be sufficiently close to the resonance frequencies of the first to fourth vibration modes. The amplitude of the rotation or elliptical vibration generated at the free ends 11b and 12b can be controlled by the magnitude, phase difference, frequency and the like of the alternating voltages applied from the power sources 24a to 24c.
  • the electro-mechanical energy transducer element 14 is composed of an element that can convert mechanical energy into electric energy as well as electric energy into mechanical energy
  • an alternating current is applied to one of the polarized portions of the electro-mechanical energy transducer element 14 to generate a rotation or elliptical vibration while other polarized portions output alternating voltages upon reception of stress caused by the rotation or elliptical vibration.
  • each polarized portion of the electro-mechanical energy transducer element 14 can be electrically switched to be used for driving the same or for detecting the vibrating state thereof. It is possible to compensate for a change over time or a change due to external load in the rotation or elliptical vibration generated at the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12 to stabilize the vibration. It is possible to use the electro-mechanical energy transducer element 14 for driving the same or for detecting the vibrating state of the cylindrical vibrator 10 by way of a selector switch, not shown, which connects the terminals of the polarized portions, not shown, to a control circuit or other power source, not shown.
  • the electrode plates 23a to 23d are brought into contact with the stepped cylindrical elastic body 13 in assembling the cylindrical vibrator 10 to short-circuit the input terminals for the electro-mechanical energy transducer element 14 to the ground terminal so that electric energy cannot be converted into mechanical energy. Therefore, it is possible to prevent the electrode plates 23a to 23d from electrical contact to one another by attaching insulating films to the portions of the stepped cylindrical elastic body 13 and electrode plates 23a to 23d which are in contact with one another or by changing the shapes or dimensions thereof. A similar effect can be obtained also by forming the stepped cylindrical elastic body 13 of nonconductive metallic material.
  • Fig. 9 is a cross-sectional view of a ultrasonic motor according to a first embodiment of the present invention.
  • a cylindrical vibrator denoted at 10 is a cylindrical vibrator
  • 11 and 12 are cylindrical elastic bodies
  • 11a and 12a are notched portions
  • 11b and 12b are free ends
  • 13 is a stepped cylindrical elastic body
  • 13a and 13b are fixing portions
  • 14 is an electro-mechanical energy transducer element
  • 31a and 31b are driving rollers
  • 32a and 32b are bearings
  • 33a and 33b are springs
  • 34a and 34b are lock nuts.
  • the driving roller 31a is rotatably supported by one fixing portion 13a of the stepped cylindrical elastic body 13 by way of the bearing 32a.
  • the driving roller 31a is pressed on the free end 11b of the cylindrical elastic body 11 by the spring 33a provided between the bearing 32a and itself.
  • the driving roller 31b is rotatably supported by the other fixing portion 13b of the stepped cylindrical elastic body 13 by way of the bearing 32b.
  • the bearing 32b is pressed on the free end 12b of the cylindrical elastic body 12 by the spring 33b provided between the bearing 32b and itself.
  • the rotation or elliptical vibrations of the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12 generate friction between the driving rollers 31a and 31b and the cylindrical elastic bodies 11 and 12 respectively to apply torque to the driving rollers 31a and 31b to rotate the same in the direction of the friction.
  • the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12 Since the rotation or elliptical vibration of the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12 is symmetrical with regard to the node 15 in the first and second vibration modes, the free ends 11b and 12b vibrate in the same direction in the composite mode of the first and second vibration modes, so that the driving rollers 31a and 31b rotate in the same direction. Moreover, if the respective conditions of contact between the driving rollers 31a and 31b and the free ends 11b and 12b are the same, the free ends 11b and 12b have the same characteristic of rotation.
  • the cylindrical vibrator 10 obtains torque from the driving rollers 31a and 31b which are rotatably supported by the stepped cylindrical elastic body 13 and are pressed on the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12 respectively.
  • the torque of the cylindrical ultrasonic motor by adjusting pressure by way of the lock nuts 34a and 34b.
  • the fixing portions 13a and 13b of the stepped cylindrical elastic body 13 are used as shafts for the driving rollers 31a and 31b respectively according to this embodiment, the shafts can be provided also outside the cylindrical vibrator 10.
  • films made of material having high coefficient of friction and high wear resistance are attached or bonded to the surfaces of the free ends 11b and 12b or the driving rollers 31a and 31b so that the driving rollers 31a and 31b may obtain a stable rotation from the free ends 11b and 12b. It is also possible to form the cylindrical elastic bodies 11 and 12 or the driving rollers 31a and 31b themselves of materials having high coefficient of friction and high wear resistance.
  • Fig. 10 is a perspective view of a ultrasonic conveying device using a ultrasonic motor according to the present invention.
  • a cylindrical vibrator denoted at 10 is a cylindrical vibrator
  • 11 and 12 are cylindrical elastic bodies
  • 13 is a stepped cylindrical elastic body
  • 13a and 13b are fixing portions thereof
  • 14 is an electro-mechanical energy transducer element
  • 31a and 31b are driving rollers
  • 32a, 32b, 43a and 43b are bearings
  • 34a and 34b are lock nuts
  • 40 is a shaft
  • 41a and 41b are cylindrical rollers
  • 42a and 42b are auxiliary rollers
  • 44 is a sheet-type object.
  • the auxiliary rollers 42a and 42b formed by bonding the cylindrical rollers 41a and 41b onto the outer circumferences of the bearings 43a and 43b respectively are rotatably supported by the shaft 40 provided on the internal circumference of the bearings 43a and 43b.
  • the sheet-type object 44 such as a card, paper, a film, etc.
  • auxiliary rollers 42a and 42b or reaction forces in the direction of the z-axis caused by the variation of thickness of the sheet-type object 44 are applied to the cylindrical vibrator 10 by way of the driving rollers 31a and 31b, but these forces can be received by the flexural or longitudinal vibration of the electro-mechanical energy transducer element 14, so that the torque generated by the driving rollers 31a and 31b can be increased.
  • Supporting the auxiliary rollers 42a and 42b in such a way as to let them have a degree of freedom in the direction of the z-axis can meet the variation of thickness of the sheet-type object 44.
  • each of the driving rollers 31a and 31b can be equipped with a roller, not shown, having a high coefficient of friction and high wear resistance on the outer circumference thereof. Material having a high coefficient of friction and high wear resistance is attached or bonded onto the outer circumference of each of the auxiliary rollers 42a and 42b. It is also possible to make the auxiliary rollers 42a and 42b themselves of material having a high coefficient of friction and high wear resistance.
  • auxiliary rollers 42a and 42b, the driving rollers 31a and 31b and the rollers covering the latter from plastic deformation in case the cylindrical ultrasonic motor is left undriven for a long period of time by providing gaps between the driving rollers 31a and 31b and the auxiliary rollers 42a and 42b, or between the auxiliary rollers 42a and 42b and the rollers provided on the outer peripheries of the driving rollers 31a and 31b to some extent respectively.
  • auxiliary rollers 42a and 42b can be provided instead of the auxiliary rollers 42a and 42b.
  • the cylindrical ultrasonic motor is fixed and the driving rollers 31a and 31b convey the sheet-type object 44 in the embodiment set forth above, it is also possible to let the ultrasonic motor travel for itself by the rotating force of the driving rollers 31a and 31b. It can be used, for example, for moving a print head in a printer, moving a print pen in an x-y plotter, conveying a recording medium or moving a magnetic recording head inside a magnetic recording device, moving a work table in a machine tool and the like.
  • the rotation of the driving roller 31a and that of the driving roller 31b can be synchronized to each other by a mechanical or electrical means. That is, it is possible to prevent the generation of difference in rotating speed between the driving rollers 31a and 31b due to the fluctuation of respective contact conditions between the driving rollers 31a and 31b and the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12.
  • a cylindrical roller which has a diameter larger than that of the cylindrical ultrasonic motor and is in contact with the outer circumferences of the driving rollers 31a and 31b on the internal circumference thereof is provided thereby to synchronize the rotation of the driving roller s 31a and 31b.
  • the provided roller and those of the driving rollers 31a and 31b hold the axis of rotation in common, and the former serves as an output roller of the cylindrical ultrasonic motor.
  • an electric circuit is formed or printed inside or on the outer circumference of the stepped cylindrical elastic body 13 to be capable of stably supplying electric energy to the electro-mechanical energy transducer element 14 without being influenced by the rotation of the roller described above.
  • the above roller and the driving rollers 31a and 31b can be bonded to each other to keep them in contact with each other, or can be also subjected to machining to form geometric patterns on the surfaces thereof for producing mating contact between the former and the latter.
  • the friction transmission mechanism can be provided in the transmission route of mechanical energy so as to arbitrarily set the value of friction at which mating is canceled to start sliding.
  • Fig. 11 is a schematic view of an electro-mechanical energy transducer according to the second embodiment of the present invention.
  • an electro-mechanical energy transducer composed of an element body 45a and electrode films 51a to 51d, the element body 45a being divided into four polarized portions each of which is polarized in the direction of thickness.
  • the electrode films 51a to 51d are attached to one of the surfaces of the element body 45a at the positions corresponding to the polarized portions, forming gaps 51f between adjacent electrode films, and an electrode film 51e made of the same material as that of the electrode films 51a to 51d is uniformly attached to the other surface of the element body 45a.
  • the polarity of surface of the electrode film 51e becomes negative supposing that the polarity of surfaces of the electrode films 51a to 51d is positive.
  • a dc voltage is applied to the electrode films 51a to 51d while the electrode film 51e is grounded,
  • the element body 45a expands in the direction of the y-axis or bends in the positive direction of the y-axis.
  • the amount of expansion or bending is proportional to the magnitude of the dc voltage in this case.
  • This arrangement requires 4 input terminals and a ground terminal.
  • the element body 45a can have two input terminals and a ground terminal.
  • one of the pair of polarized portions expands in the direction of the y-axis or bends in the positive direction of the y-axis, while the other contracts in the direction of the y-axis or bends in the negative direction of the y-axis.
  • alternating voltages applied to adjacent polarized portions differ in phase by 90°.
  • Fig. 12 is a view for explaining a working principle of an electro-mechanical energy transducer element according to a second embodiment of the present invention.
  • a driving method will be described wherein a pair of polarized portions symmetrical to each other with regard to the y-axis among four polarized portions of the electro-mechanical transducer element are polarized reversely to each other.
  • 45 is an electro-mechanical energy transducer element
  • 45a is an element body
  • 51a to 51e are electrode films
  • 51f are gaps
  • 52a to 52e are electrode plates
  • 53a and 53b are power sources.
  • the electrode plates 52a to 52e corresponding to the electrode films 51a to 51e of the electro-mechanical energy transducer element 45 are positioned as illustrated in the figure to be brought into contact with the electrode plates 52a to 52e respectively.
  • the electrode plates 52a to 52e and the electrode films 51a to 51e are made of same material taking account of the efficiency of transmitting vibration from the electro-mechanical energy transducer element 14 to the cylindrical elastic bodies 11 and 12 (Fig. 1).
  • a similar effect can be obtained also by making the electrode plates 52a to 52e of material different from that of the cylindrical elastic bodies 11 and 12.
  • the electrode plates 52a to 52e should be thinner than the element body 45a as much as possible.
  • gaps at least larger than the gaps 51f among the electrode films 51a to 51e are formed among the electrode plates 52a to 52d to prevent the same from being brought into contact with one another. It may be also possible to provide insulating materials among the electrode plates 52a to 52d to be incorporated into one piece. It facilitates positioning the electrode plates 52a to 52e relative to the electrode films 51a to 51e compared with the case employing four individual electrode plates 52a to 52e separately.
  • Each of the electrode plates 52a to 52e comprises an electrode piece which projects outward to be electrically connected to power sources as illustrated in the figure.
  • the polarity of surfaces of the electrode films 51c and 51d of the four divided polarized portions of the electro-mechanical energy transducer element 45 becomes negative supposing that the polarity of surfaces of the electrode films 51a and 51b is positive.
  • the power sources 53a and 53b supply alternating voltages which are different in phase from each other by 90° to the electrode plates 52a and 52c and to the electrode plates 52b and 52d respectively, the electrode plates 52a and 52c electrically connected to each other being in contact with the electrode films 51a and 51c and the electrode plates 52b and 52d electrically connected to each other being in contact with the electrode films 51b and 51d respectively.
  • the values of frequencies of each alternating voltages are set to be conformed to or sufficiently close to the resonance frequencies of the first to fourth vibration modes set forth above.
  • the amplitude of the rotation or elliptical vibration generated at the free ends 11b and 12b can be controlled by the magnitude, phase difference, frequency, etc. of the alternating voltages applied by the power sources 53a and 53b.
  • the electro-mechanical energy transducer element 45 is composed of an element which can transform mechanical energy into electric energy as well as electric energy into mechanical energy
  • an alternating voltage is applied to one of the polarized portions of the electro-mechanical energy transducer element 45 to generate a rotation or elliptical vibration while the other polarized portions produce alternating voltages upon reception of stress due to the rotation or elliptical vibration.
  • each polarized portion of the electro-mechanical energy transducer element 45 is electrically selected to be used for driving the same or for detecting the vibrating state of the same.
  • an electro-mechanical energy transducer element 14, 45 is provided between the cylindrical elastic bodies 11 and 12 for generating rotation or elliptical vibrations at the free ends 11b and 12b of the cylindrical elastic bodies 11 and 12. Accordingly, the electro-mechanical energy transducer element 14, 45 requires more than three polarized portions.
  • the magnitude of vibration generated by the electro-mechanical energy transducer element 14, 45 relates to the area of the polarized portions, if the number of divided portions of the electro-mechanical energy transducer element 14, 45 is increased, an area per one divided polarized portion becomes small so that the vibration generated by the electro-mechanical energy transducer element 14, 45 becomes small. Accordingly, it is possible to enlarge vibration by laminating more than two electro-mechanical energy transducer elements which are divided into polarized portions in the same way.
  • This laminated-type electro-mechanical energy transducer element is driven in the same way as an electro-mechanical energy transducer element 14, 45 by positioning the polarized portions of the laminated-type electro-mechanical energy transducer elements over one another.
  • Fig. 13 is a schematic view of a laminated-type electro-mechanical energy transducer element according to the third embodiment of the present invention
  • Fig. 14 is a view for explaining the working principle of the laminated-type electro-mechanical energy transducer element according to the third embodiment of the present invention.
  • Fig. 13 (a) is a perspective view of the laminated-type electro-mechanical energy transducer element
  • Fig. 13 (b) is a perspective view of an electro-mechanical energy transducer element.
  • an electro-mechanical energy transducer element 59 is divided into two polarized portions. Accordingly, it is difficult to stably generate two-dimensional vibration such as a rotation or elliptical vibration by the electro-mechanical energy transducer element 59 alone.
  • a laminated-type electro-mechanical energy transducer element 54 is composed of 5 sheets of electro-mechanical energy transducer elements 59 and 6 electrode plates 60a to 60f, the two kinds of components being alternatively laminated piece by piece.
  • the electro-mechanical energy transducer elements 59 and the electrode plates 60a to 60f set forth above are bonded to one another to form one piece. It is also possible to fix the electro-mechanical energy transducer elements 59 and the electrode plates 60a to 60f to one another by clamping the same by way of a pair of cylindrical elastic bodies 11 and 12 (Fig. 1) and the stepped cylindrical elastic body 13.
  • a pair of cylindrical elastic bodies 11 and 12 Fig. 1
  • the stepped cylindrical elastic body 13 In case of the bonding method, not only the rotation or elliptical vibration is absorbed by bonding layers but also it takes a long time for assembling, but in case of the clamping method, the rotation or elliptical vibration is not absorbed, and moreover, the assembling time can be shortened.
  • Each of the electrode plates 60a to 60f made of the same elastic material as that of the cylindrical elastic bodies 11 and 12 has two electrode pieces on the outer circumference thereof at the positions symmetrical with each other.
  • the electro-mechanical energy transducer elements 59 can be easily positioned to one another to be laminated together with the electrode plates 60a to 60f sandwiched among them by aligning the electrode plates 60a to 60f using the two electrode pieces thereof as illustrated in Fig. 13 (a).
  • the electrode pieces of the electrode plates 60a to 60f serve as leads as illustrated in Fig. 14.
  • the electro-mechanical energy transducer element 59 is composed of an element body 59a, semi-circular electrode films 61a and 61b and a circular electrode film 62.
  • the semi-circular electrode films 61a and 61b and the circular electrode film 62 are formed by attaching conductive metallic films to the surfaces of the element body 59a. It is also possible to form the semi-circular electrode films 61a and 61b and the circular electrode film 62 by applying a conductive coating to the surfaces of the element body 59a.
  • the element body 59a is divided into two by the semi-circular electrode films 61a and 61b, being polarized in the direction of thickness, wherein the polarity of surface of the semi-circular electrode film 61b becomes negative in case that of the semi-circular electrode film 61a is positive.
  • the circular electrode film 62 serves in common as an electrode to make respective pairs with the semi-circular electrode films 61a and 61b so as to be used as a ground terminal of the laminated-type electro-mechanical energy transducer element 54 as illustrated in Fig. 14.
  • the element body 59a expands in the direction of the y-axis or bends in the positive direction of the y-axis on the semi-circular electrode film 61a side thereof, while contracts in the direction of the y-axis or bends in the negative direction of the y-axis on the semi-circular electrode film 61b side thereof.
  • the semi-circular electrode film 61a side portion and semi-circular electrode film 61b side portion of the element body 59a vibrate with phases different from each other by 180°.
  • Gaps 63 between the semi-circular electrode films 61a and 61b serve as marks for indicating the dividing directions of the electro-mechanical energy transducer elements 59 when the same are laminated together to facilitate the efficient assembling of the laminated-type electro-mechanical energy transducer element 54 as illustrated in Fig. 10 (a).
  • the laminated-type electro-mechanical energy transducer element 54 can be divided into three laminated portions S1 to S3 according to the divided direction and function in laminating the electro-mechanical energy transducer elements 59.
  • the semi-circular electrode films 61a and 61b of two electro-mechanical energy transducer elements 59 are in contact with an electrode plate 60b so that the gaps 63 may be arranged in the direction of the z-axis.
  • the semi-circular electrode films 61a and 61b of two electro-mechanical energy transducer elements 59 are in contact with an electrode plate 60d so that the gaps 63 thereof may be turned about the y-axis by 90° from those of the laminated portion S1.
  • the semi-circular electrode films 61a and 61b of an electro-mechanical energy transducer element 59 are in contact with an electrode plate 60f so that the gap 63 thereof may be aligned in the same direction of those of the laminated portion S1.
  • the electrode plates 60a, 60c and 60e are grounded.
  • the electrode plates 60a to 60f are wired as illustrated in Fig. 14. That is, the electrode plates 60a, 60c and 60e are grounded, an alternating voltage is applied to the laminated portion S1 from an power source 64 by way of the electrode plate 60b and an alternating voltage is applied to the laminated portion S2 from an power source 65 by way of the electrode plate 60d.
  • a flexural vibration is generated in the x-y plane about the y-axis in the laminated portion S1 caused by the alternating voltage from the power source 64 and a flexural vibration is generated in the x-z plane about the y-axis in the laminated portion S2 caused by the alternating voltage from the power source 65.
  • a rotation or elliptical vibration is generated about the central axis of the laminated-type electro-mechanical energy transducer element 54.
  • alternating voltages which are identical in frequency and different in phase from each other by 90° are applied to the laminated portions S1 and S2 from the power sources 64 and 65 respectively.
  • the amplitude of the rotation or elliptical vibration about the central axis of the laminated-type electro-mechanical energy transducer element 54 can be controlled by the magnitude, phase difference, frequency and the like of the alternating voltages applied to the laminated portions S1 and S2 from the power sources 64 and 65.
  • the electro-mechanical energy transducer element 59 is composed of an element which can convert mechanical energy into electric energy as well as electric energy into mechanical energy
  • an alternating voltage which is proportional to the stress applied to the laminated portion S3 by the rotation or elliptical vibration is output from a terminal 66 connected to the electrode plate 60f, so that it is possible to use the laminated portion S3 as an element for detecting the vibrating state of the laminated-type electro-mechanical energy transducer element 54 by connecting the terminal 66 to a control circuit, not shown, to detect the alternating voltage output therefrom.
  • the laminated-type electro-mechanical energy transducer element 54 it is possible to control the laminated-type electro-mechanical energy transducer element 54 based on the detected voltage so as to stably vibrate the cylindrical vibrator 10. Moreover, since the gap 63 of the laminated portion S3 is aligned in the same direction as those of the laminated portion S1, it is possible to vibrate the laminated portion S3 in the x-y plane in the same way as the laminated portion S1. It is also possible to use the laminated portion S3 for driving the same or detecting the vibrating state thereof by way of a selector switch, not shown, which connects the terminal 66 to a control circuit or another power source, not shown.
  • a first vibration mode in Fig. 6 (a) or a third vibration mode in Fig. 6 (c) are generated therein being driven by the laminated portion S1
  • a second vibration mode in Fig. 6 (b) or a fourth vibration mode in Fig. 6 (d) are generated therein being driven by the laminated portion S2.
  • the electrode plates 60a and 60f are insulated from the cylindrical elastic bodies 11 and 12 respectively.
  • the amplitude of the rotation or elliptical vibration generated at each of the free ends 11b and 12b can be controlled by the magnitude, phase difference, frequency and the like of the alternating voltages applied to the cylindrical vibrator 10 from the power sources 64 and 65.
  • the ultrasonic motor according to the present invention is suitable for a conveying device for conveying prepaid cards used in an automatic cash dispenser, for a telephone, an automatic ticket issuing machine, etc., or papers, films, etc. used in a printer, a facsimile, copier, etc.

Claims (8)

  1. Moteur à ultrasons comportant :
    un corps élastique cylindrique épaulé (13) ayant des parties de fixation (13a,b) à ses deux extrémités et des parties de vissage (13c, d) entre elles, ledit corps cylindrique épaulé étant supporté à ses parties de fixation ;
    un élément transducteur d'énergie électromécanique (14, 45) fixé à une partie donnée dudit corps élastique cylindrique épaulé (13) pour générer des modes de vibration dans plusieurs plans ;
    deux corps élastiques cylindriques (11, 12) qui serrent entre eux ledit élément transducteur d'énergie électromécanique (14, 45) et sont fixés audit corps élastique cylindrique épaulé (13) ;
    un moyen (24a, b, c) pour appliquer plusieurs tensions alternatives audit élément transducteur d'énergie électromécanique (14, 45), les tensions alternatives différant les unes des autres d'une phase prédéterminée ; et
    des galets d'entraínement (31a, b) qui sont pressés sur les extrémités libres (11b, 12b) desdits corps élastiques cylindriques (11, 12) et sont entraínés en rotation au moyen d'une vibration générée aux extrémités libres (11b, 12b).
  2. Moteur à ultrasons selon la revendication 1, dans lequel ledit élément transducteur d'énergie électromécanique (14, 45) est composé d'un corps d'élément (14a, 45a) et ledit corps d'élément est divisé en au moins trois parties (21a, b, c ; 51a, b, c, d) polarisées dans la direction de l'épaisseur.
  3. Moteur à ultrasons selon la revendication 2, dans lequel au moins l'une desdites parties polarisées (21a, b, c ; 51a, b, c, d) est connectée à un moyen sélecteur pour sélectionner une entrée et une sortie électriques, et ledit moyen sélecteur effectue sélectivement l'attaque dudit élément transducteur d'énergie électromécanique (14, 45) et la détection de son état vibrant.
  4. Moteur à ultrasons selon la revendication 1, dans lequel ledit élément transducteur d'énergie électromécanique (59) est formé par stratification de plusieurs desdits corps d'élément (59a) et chaque corps d'élément est divisé en au moins deux parties (61a, b) polarisées dans la direction de l'épaisseur.
  5. Moteur à ultrasons selon la revendication 4, dans lequel au moins l'une desdites parties divisées (61a, b) dudit corps d'élément est connectée à un moyen sélecteur pour sélectionner une entrée et une sortie électriques et ledit moyen sélecteur effectue sélectivement l'attaque dudit élément transducteur d'énergie électromécanique (59) et la détection de son état vibrant.
  6. Moteur à ultrasons selon la revendication 1, dans lequel ledit moteur à ultrasons comporte un moyen de synchronisation destiné à synchroniser la rotation desdits galets d'entraínement (31a, b).
  7. Moteur à ultrasons selon la revendication 1, dans lequel ledit moteur à ultrasons comporte en outre des galets (41a, b) entraínés en rotation par lesdits galets d'entraínement (31a, b), une force, qui peut être transmise entre lesdits galets d'entraínement et lesdits galets entraínés, étant établie de façon à être inférieure à celle pouvant être transmise entre lesdites extrémités libres (11b, 12b) et lesdits galets d'entraínement (41a, b).
  8. Dispositif de transport par ultrasons comportant :
    un corps élastique cylindrique épaulé (13) ayant des parties de fixation (13a, b) à ses deux extrémités et des parties de vissage (13c, d) entre elles, ledit corps cylindrique épaulé étant supporté à ses parties de fixation ;
    un élément transducteur d'énergie électromécanique (14, 45) fixé à une partie donnée dudit corps élastique cylindrique épaulé (13) pour générer des modes de vibration dans plusieurs plans ;
    deux corps élastiques cylindriques (11, 12) qui serrent entre eux ledit élément transducteur d'énergie électromécanique (14, 45) et sont fixés audit corps élastique cylindrique épaulé (13) ;
    un moyen (24a, b, c) destiné à appliquer plusieurs tensions alternatives audit élément transducteur d'énergie électromécanique (11, 45), lesdites tensions alternatives ayant des phases qui diffèrent les unes des autres d'une quantité prédéterminée ;
    des galets d'entraínement (31a, b) qui sont pressés sur les extrémités libres (llb, 12b) desdits corps élastiques cylindriques (11, 12) et qui sont entraínés en rotation au moyen de vibrations générées aux extrémités libres (11b, 12b) ; et
    des galets auxiliaires (42a, b) prévus de façon à être opposés auxdits galets d'entraínement (31a, b) ; dans lequel
    lesdits galets d'entraínement (31a, b) et lesdits galets auxiliaires (42a, b) sont agencés dans les positions où ils peuvent transporter un objet (44) du type feuille tout en le serrant entre eux.
EP94905853A 1993-02-05 1994-02-04 Moteur a ultra-sons et entrainement avec ondes ultrasonores Expired - Lifetime EP0635930B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP18604/93 1993-02-05
JP01860493A JP3245245B2 (ja) 1993-02-05 1993-02-05 超音波モータ及び超音波搬送装置
PCT/JP1994/000173 WO1994018750A1 (fr) 1993-02-05 1994-02-04 Moteur a ultra-sons et porteuse d'ondes ultrasonores

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EP0635930A1 EP0635930A1 (fr) 1995-01-25
EP0635930A4 EP0635930A4 (fr) 1997-07-23
EP0635930B1 true EP0635930B1 (fr) 1998-07-22

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EP (1) EP0635930B1 (fr)
JP (1) JP3245245B2 (fr)
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WO (1) WO1994018750A1 (fr)

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JP4103799B2 (ja) * 2002-03-04 2008-06-18 セイコーエプソン株式会社 リニアアクチュエータ
JP4780770B2 (ja) * 2006-04-10 2011-09-28 株式会社豊田自動織機 振動アクチュエータ
KR100824001B1 (ko) * 2006-05-08 2008-04-23 한국생산기술연구원 초음파 모터
JP6179032B2 (ja) * 2013-06-27 2017-08-16 日本特殊陶業株式会社 ローラおよびローラ湾曲補正装置
JP6261279B2 (ja) * 2013-10-16 2018-01-17 キヤノン株式会社 振動型駆動装置の振動子、振動型駆動装置、交換レンズ、撮像装置、自動ステージ
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JP2024034804A (ja) * 2022-09-01 2024-03-13 キヤノン株式会社 振動波モータ及び駆動装置

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Also Published As

Publication number Publication date
EP0635930A4 (fr) 1997-07-23
WO1994018750A1 (fr) 1994-08-18
EP0635930A1 (fr) 1995-01-25
JPH06233564A (ja) 1994-08-19
DE69411820T2 (de) 1999-04-15
US5548176A (en) 1996-08-20
DE69411820D1 (de) 1998-08-27
JP3245245B2 (ja) 2002-01-07

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